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A global output-feedback controller for simultaneous tracking and stabilization of unicycle-type mobile robots

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3 Author(s)
Khac Duc Do ; Sch. of Mech. Eng., Univ. of Western Australia, Crawley, WA, Australia ; Zhong-Ping Jiang ; Jie Pan

We present a time-varying global output-feedback controller that solves both tracking and stabilization for unicycle-type mobile robots simultaneously at the torque level. The controller synthesis is based on a coordinate transformation, Lyapunov's direct method, and backstepping technique. Simulations demonstrate the result.

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:20 ,  Issue: 3 )

Date of Publication:

June 2004

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